CN106625622A - Mechanical paw for clamping workpieces - Google Patents
Mechanical paw for clamping workpieces Download PDFInfo
- Publication number
- CN106625622A CN106625622A CN201710141209.3A CN201710141209A CN106625622A CN 106625622 A CN106625622 A CN 106625622A CN 201710141209 A CN201710141209 A CN 201710141209A CN 106625622 A CN106625622 A CN 106625622A
- Authority
- CN
- China
- Prior art keywords
- plate
- assembly
- tracheae
- pneumatic
- steering
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000002347 injection Methods 0.000 claims description 4
- 239000007924 injection Substances 0.000 claims description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 abstract description 5
- 229910052782 aluminium Inorganic materials 0.000 abstract description 5
- 230000003068 static effect Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract 7
- 239000004411 aluminium Substances 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000007788 liquid Substances 0.000 description 2
- 206010000372 Accident at work Diseases 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000004512 die casting Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical paw for clamping workpieces. The mechanical paw for clamping the workpieces comprises a pneumatic assembly, a steering assembly, a clamping assembly and a right-angled connecting plate. The right-angled connecting plate comprises a clamping installation surface and a pneumatic installation surface. The clamping assembly is installed on the clamping installation surface. A pneumatic rotary installation plate is installed on the pneumatic installation surface. The steering assembly is installed on the pneumatic rotary installation plate. The pneumatic assembly is installed at the outer end of the pneumatic rotary installation plate. The pneumatic assembly and the steering assembly can be matched to make the clamping assembly rotate. The mechanical paw for clamping the workpieces has the advantages that the pneumatic assembly, the steering assembly and the clamping assembly are arranged so that both the working purpose of clamping and the working purpose of steering can be achieved; and a first air pipe and a second air pipe are in a semi-closed state all the time, so that the first air pipe and the second air pipe are not prone to being stained by splashing molten aluminum and are kept static relatively.
Description
Technical field
The present invention relates to a kind of robot in industrial circle, specifically workpiece holding gripper.
Background technology
Aluminium casting is part category important in industry, and dwell time, gripping time and cold are included in its production time
But the time, all it is related to production efficiency and production cost.
Temperature is high during aluminium diecasting depanning, and pickup is time-consuming to take work(, and easily goes out industrial accident.
The content of the invention
The present invention is not enough for prior art, there is provided can grip workpiece and the workpiece holding gripper for turning to.
In order to solve above-mentioned technical problem, the present invention is addressed by following technical proposals：Workpiece holding gripper, bag
Include Pneumatic assembly, steering assembly, gripper assembly and right-angle connecting plate, the right-angle connecting plate point gripping mounting surface and pneumatic peace
Dress face, is provided with the gripper assembly on the gripping mounting surface, be provided with gas on the pneumatic mounting surface and turn installing plate, described
Gas turns installing plate and is provided with the steering assembly, and the gas turns the side of installing plate and overhangs L shaped plate, the outer end of the L shaped plate
Head is provided with the Pneumatic assembly；The Pneumatic assembly and the steering assembly coordinate can cause the gripper assembly to occur to turn
It is dynamic；The gripper assembly includes upper top gas cylinder, lower top gas cylinder, upper plate, middle splint, lower plate and left and right two guide pillars, institute
State top gas cylinder to arrange back-to-back with the lower top gas cylinder, manipulated by outside console, left and right two guide pillars according to
The secondary series connection upper plate, the middle splint and the lower plate are simultaneously split in both sides, and the gripping mounting surface is fixed on institute
The bottom surface of lower top gas cylinder is stated, the gripping mounting surface is parallel with middle splint and both sides are passed through by guide pillar, the upper top gas cylinder band
The dynamic upper plate, the guide pillar and the lower plate are moved to a direction, and the lower top gas cylinder drives the middle splint
Move to another direction.
A pair triangular aslants with sawtooth are respectively installed on the medial surface of the medial surface of the lower plate and the middle splint
Fixture block.
The steering assembly includes T-shaped plate and rotation seat, and the horizontal part of the T-shaped plate is arranged under the vertical guide
End, the rotation seat includes flat panel base, sleeve part and turns to plate portion, and the steering plate portion is perpendicular to the flat panel base and hangs down
Directly in the sleeve part, the flat panel base is fixed on gas and turns on installing plate, and the sleeve part is built-in with rotating shaft and adopts needle roller
Bearing fit, is provided with oil injection head on the outside of the sleeve part, the rotating shaft is arranged on the vertical portion of the T-shaped plate, described
The Pneumatic assembly is installed at the side angle for turning to plate portion.
The Pneumatic assembly includes tracheae block, tracheae one, tracheae two, valve body, steering cylinder and cylinder block, required gas
The tracheae block, the tracheae one, the valve body, the tracheae two are passed sequentially through into the steering cylinder, the steering gas
Cylinder is arranged down and its expansion link is arranged at the side angle for turning to plate portion by rotational pin；The tracheae block is arranged on by bearing
On the external end head of the L shaped plate.
Case one is provided with outside tracheae block and tracheae one, outside tracheae two and steering cylinder case two is provided with.
The rotational pin is in 45 degree of angles with the line and the guide pillar of the rotating shaft.
Anticollision device, collision-prevention device is installed, the anticollision device, collision-prevention device is towards described straight on the horizontal part of the valve body or the T-shaped plate
Angle connecting plate.
The present invention compared with prior art, has the advantages that：It is provided with Pneumatic assembly, steering assembly and gripping group
Part, it is possible to achieve two work purposes of gripping and steering；Tracheae one and tracheae two are in all the time semi-closed state, it is not easy to flown
The aluminium liquid splashed is stained with, and keeps geo-stationary.
Description of the drawings
Fig. 1 is the structural representation one of the embodiment of the present invention.
Fig. 2 is the structural representation two of the embodiment of the present invention.
Fig. 3 is the structural representation three of the embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described in further detail with specific embodiment：As Figure 1-3, mark such as
Under：Pneumatic assembly A, steering assembly B, gripper assembly C, right-angle connecting plate D, gas turn installing plate E, cross slide way F, longitudinal rail
G, vertical guide H, tracheae block a1, the a2 of tracheae one, the a3 of tracheae two, valve body a4, steering cylinder a5, cylinder block a6, rotational pin a7
, the a8 of case one, the a9 of case two, bearing a10, T-shaped plate b1, horizontal part b11, vertical portion b12, rotation seat b2, flat panel base
B21, sleeve part b22, steering plate portion b23, rotating shaft b3, oil injection head b4, upper top gas cylinder c1, lower top gas cylinder c2, upper plate
C3, middle splint c4, lower plate c5, guide pillar c6, triangular aslant fixture block c7, gripping mounting surface d1, pneumatic mounting surface d2, L-shaped
Plate e1.
As described in Figure 1, there is a kind of nonstandard machine, be provided with a cross slide way F, two longitudinal rail G and two vertical
Guide rail H, can realize the movement on the upper and lower six direction of left-right and front-back, and on the lower end of one of vertical guide workpiece is provided with
Gripping gripper.
Workpiece holding gripper includes Pneumatic assembly A, steering assembly B, gripper assembly C and right-angle connecting plate D, and right angle connects
Fishplate bar is divided into gripping mounting surface d1 and pneumatic mounting surface d2, and on gripping mounting surface gripper assembly is provided with, and pacifies on pneumatic mounting surface
Turn installing plate E equipped with gas, gas turns installing plate and is provided with steering assembly, and the gas turns the side of installing plate and overhangs L shaped plate e1, institute
The external end head for stating L shaped plate is provided with the Pneumatic assembly.
Gripper assembly includes upper top gas cylinder c1, lower top gas cylinder c2, upper plate c3, middle splint c4, lower plate c5 and left and right
Two guide pillar c6, upper top gas cylinder is arranged back-to-back with lower top gas cylinder, and left and right two guide pillars are sequentially connected in series upper plate, middle splint
With lower plate and split in both sides, grip the bottom surface that mounting surface is fixed on lower top gas cylinder, gripping mounting surface is parallel with middle splint
And both sides are passed through by guide pillar；A pair triangular aslants with sawtooth are respectively installed on the medial surface of lower plate and the medial surface of middle splint
Fixture block c7.
Steering assembly includes that T-shaped plate b1 and rotation seat b2, the horizontal part b11 of T-shaped plate are arranged on the lower end of vertical guide, turns
Dynamic seat includes flat panel base b21, sleeve part b22 and turns to plate portion b23, and steering plate portion is perpendicular to flat panel base and perpendicular to sleeve
Portion, rotation seat can be an entirety, or be made up of three independent parts that flat panel base is fixed on gas and turns installing plate
On, sleeve part is built-in with rotating shaft b3 and is coordinated using needle bearing, and oil injection head b4 is provided with the outside of sleeve part, can add lubrication
Oil, rotating shaft is arranged on the vertical portion b12 of T-shaped plate.
Pneumatic assembly includes tracheae block a1, the a2 of tracheae one, the a3 of tracheae two, valve body a4, steering cylinder a5 and cylinder block a6, institute
The gas for needing passes sequentially through tracheae block, tracheae one, valve body, tracheae two and enters steering cylinder, and steering cylinder is arranged down and it is stretched
Contracting bar is arranged at the side angle for turning to plate portion by rotational pin a7, and valve body is fixed on the lower end of longitudinal rail, and cylinder block is also installed
On longitudinal rail；Tracheae block is arranged on the external end head of L shaped plate by bearing a10；It is provided with outside tracheae block and tracheae one
The a8 of case one, outside tracheae two and steering cylinder the a9 of case two is provided with, and can prevent aluminium liquid from splashing；It is typically chosen rotational pin and turns
The line of axle is in 45 degree of angles with guide pillar.
Regulating bolt can be installed on the horizontal part of valve body or T-shaped plate to put, in case right-angle connecting plate.
Valve body is fixed on the bottom of longitudinal rail, so the tracheae one, tracheae two and tracheae block on valve body is
Relative static with longitudinal rail, during grabbing workpiece, simply bearing a10 is being rotated, and is not rotated with steering assembly；This
Sample is effectively protected tracheae, and also is provided with case one and case two outside it.
Tracheae two is supplied to cylinder is turned to so as to which simultaneously band turns with rotation seat and gripper assembly around rotating shaft b3 for expansion link elongation
It is dynamic, unload gas and then reversely operate.
When upper top gas cylinder is with lower top gas cylinder working, upper top gas cylinder drives upper plate, guide pillar and lower plate to a direction
Motion, lower top gas cylinder drives middle splint to move to another contrary direction, so as to so that lower plate and middle splint are clamped
Firmly workpiece, or by triangular aslant fixture block clamping workpiece, or common clamping workpiece.
Claims (7)
1. workpiece holding gripper, it is characterised in that：Including Pneumatic assembly (A), steering assembly (B), gripper assembly (C) and straight
Angle connecting plate (D), the right-angle connecting plate is divided into gripping mounting surface (d1) and pneumatic mounting surface (d2), on the gripping mounting surface
The gripper assembly is installed, gas is installed on the pneumatic mounting surface and is turned installing plate (E), the gas turns to be provided with installing plate
The steering assembly, the gas turns the side of installing plate and overhangs L shaped plate, and the external end head of the L shaped plate is provided with described pneumatic
Component；The Pneumatic assembly and the steering assembly coordinate can cause the gripper assembly to rotate；The gripper assembly bag
Include top gas cylinder (c1), lower top gas cylinder (c2), upper plate (c3), middle splint (c4), lower plate (c5) and left and right two guide pillars
(c6), the upper top gas cylinder is arranged back-to-back with the lower top gas cylinder, and left and right two guide pillars are sequentially connected in series the upper top
Plate, the middle splint and the lower plate are simultaneously split in both sides, and the gripping mounting surface is fixed on the bottom of the lower top gas cylinder
Face, the gripping mounting surface is parallel with middle splint and both sides are passed through by guide pillar, and the upper top gas cylinder drives the upper plate, institute
State guide pillar and the lower plate to move to a direction, the lower top gas cylinder drives the middle splint to another direction fortune
It is dynamic.
2. workpiece holding gripper as claimed in claim 1, it is characterised in that：The medial surface of the lower plate and the centre
A pair triangular aslant fixture blocks (c7) with sawtooth are respectively installed on the medial surface of clamping plate.
3. workpiece holding gripper as claimed in claim 2, it is characterised in that：The steering assembly include T-shaped plate (b1) and
Rotation seat (b2), the rotation seat includes flat panel base (b21), sleeve part (b22) and turns to plate portion (b23), the deflecting plate
Perpendicular to the flat panel base and perpendicular to the sleeve part, the flat panel base is fixed on gas and turns on installing plate, the set in portion
Cylinder portion is built-in with rotating shaft (b3) and is coordinated using needle bearing, is provided with oil injection head (b4) on the outside of the sleeve part, described turn
Axle is arranged on the vertical portion (b12) of the T-shaped plate, and at the side angle for turning to plate portion the Pneumatic assembly is provided with.
4. workpiece holding gripper as claimed in claim 3, it is characterised in that：The Pneumatic assembly include tracheae block (a1),
Tracheae one (a2), tracheae two (a3), valve body (a4), steering cylinder (a5) and cylinder block (a6), required gas passes sequentially through institute
Tracheae block, the tracheae one, the valve body, the tracheae two are stated into the steering cylinder, the steering cylinder is arranged down
And its expansion link is arranged at the side angle for turning to plate portion by rotational pin (a7)；The tracheae block is arranged on by bearing (a10)
On the external end head of the L shaped plate.
5. workpiece holding gripper as claimed in claim 4, it is characterised in that：Case is provided with outside tracheae block and tracheae one
One (a8), outside tracheae two and steering cylinder case two (a9) is provided with.
6. workpiece holding gripper as claimed in claim 4, it is characterised in that：The line of the rotational pin and the rotating shaft with
The guide pillar is in 45 degree of angles.
7. workpiece holding gripper as claimed in claim 4, it is characterised in that：The level of the valve body or the T-shaped plate
Anticollision device, collision-prevention device is installed, the anticollision device, collision-prevention device is towards the right-angle connecting plate in portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710141209.3A CN106625622A (en) | 2017-03-06 | 2017-03-06 | Mechanical paw for clamping workpieces |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710141209.3A CN106625622A (en) | 2017-03-06 | 2017-03-06 | Mechanical paw for clamping workpieces |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106625622A true CN106625622A (en) | 2017-05-10 |
Family
ID=58847425
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710141209.3A Pending CN106625622A (en) | 2017-03-06 | 2017-03-06 | Mechanical paw for clamping workpieces |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106625622A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109093607A (en) * | 2018-09-07 | 2018-12-28 | 浙江斯柯特科技有限公司 | A kind of totally-enclosed right angle coordinate manipulator of high-speed silent |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19980034886A (en) * | 1996-11-09 | 1998-08-05 | 오상수 | Work loading system for machining power steering yokes |
| JP2003300126A (en) * | 2002-04-09 | 2003-10-21 | Central Motor Co Ltd | Shift clamp |
| CN201092044Y (en) * | 2007-11-06 | 2008-07-30 | 大连阿拇特科技发展有限公司 | Automatic feeding-unloading manipulator tilting mechanism |
| CN103552067A (en) * | 2013-11-04 | 2014-02-05 | 武汉奋进电力技术有限公司 | Single-finger clamping and overturning manipulator |
| CN104511897A (en) * | 2013-09-29 | 2015-04-15 | 张祥 | Novel rectangular coordinate robot device |
| CN205438591U (en) * | 2015-12-25 | 2016-08-10 | 富诚汽车零部件有限公司 | Pneumatic horizontal centring clamping device |
| CN106078788A (en) * | 2016-07-12 | 2016-11-09 | 诺伯特智能装备（山东）有限公司 | Industrial robot piling paw |
| CN206588948U (en) * | 2017-03-06 | 2017-10-27 | 宁波伊泽机器人有限公司 | Workpiece holding gripper |
-
2017
- 2017-03-06 CN CN201710141209.3A patent/CN106625622A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19980034886A (en) * | 1996-11-09 | 1998-08-05 | 오상수 | Work loading system for machining power steering yokes |
| JP2003300126A (en) * | 2002-04-09 | 2003-10-21 | Central Motor Co Ltd | Shift clamp |
| CN201092044Y (en) * | 2007-11-06 | 2008-07-30 | 大连阿拇特科技发展有限公司 | Automatic feeding-unloading manipulator tilting mechanism |
| CN104511897A (en) * | 2013-09-29 | 2015-04-15 | 张祥 | Novel rectangular coordinate robot device |
| CN103552067A (en) * | 2013-11-04 | 2014-02-05 | 武汉奋进电力技术有限公司 | Single-finger clamping and overturning manipulator |
| CN205438591U (en) * | 2015-12-25 | 2016-08-10 | 富诚汽车零部件有限公司 | Pneumatic horizontal centring clamping device |
| CN106078788A (en) * | 2016-07-12 | 2016-11-09 | 诺伯特智能装备（山东）有限公司 | Industrial robot piling paw |
| CN206588948U (en) * | 2017-03-06 | 2017-10-27 | 宁波伊泽机器人有限公司 | Workpiece holding gripper |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109093607A (en) * | 2018-09-07 | 2018-12-28 | 浙江斯柯特科技有限公司 | A kind of totally-enclosed right angle coordinate manipulator of high-speed silent |
| CN109093607B (en) * | 2018-09-07 | 2023-09-05 | 浙江斯柯特科技有限公司 | High-speed mute totally-enclosed rectangular coordinate manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10722942B2 (en) | Multi-arm hanging rail type casting cleaning robot | |
| US10840488B2 (en) | Battery fixing device | |
| CN206966961U (en) | A kind of Liftable type dual AC power positioner | |
| CN107234383A (en) | Boiler heat-exchanger welding robot workstation | |
| CN102729245A (en) | Manipulator | |
| CN107234613A (en) | Hydraulic mechanical hand | |
| CN105033527A (en) | Large rolling shaft seal welding tool | |
| CN103358075B (en) | A kind of locking device of automotive body welding rolling clamp | |
| CN106737302A (en) | Floating type fixture | |
| CN106625622A (en) | Mechanical paw for clamping workpieces | |
| CN206588948U (en) | Workpiece holding gripper | |
| CN106112499A (en) | Multiaxis displacement type robot tightening machine | |
| CN102430936A (en) | Self-adaptive blank clamping appearance mechanism | |
| KR101133933B1 (en) | The car cylinder head moving use to gripper quipment | |
| CN203526933U (en) | Torque-adjustable oil cylinder wrenching device for wrenching oil cylinder threaded connection structure | |
| CN204030881U (en) | Motor stator press-fits special alignment jig | |
| CN209773805U (en) | Welding positioning device for special-shaped workpiece | |
| CN107953142B (en) | Air-blowing bobbing machine | |
| CN105921928B (en) | Joint welding frock suitable for lift heavy traveling wheeled crane front frame suspension arm support assembly | |
| CN205968718U (en) | Vehicle shock absorber piston rod anchor clamps | |
| CN104668861A (en) | Welding clamping rotary working platform | |
| CN206527554U (en) | A kind of fork arm class part drilling clamp | |
| CN209157720U (en) | A kind of novel aluminum alloy wheel hub band purging clamping jaw | |
| CN107756102A (en) | A kind of universal tank surface jig for machining | |
| CN208543468U (en) | A kind of manipulator of new automobile maintenance |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20240816 |
|
| AD01 | Patent right deemed abandoned |